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WO2018146876A1 - Procédé, dispositif et serveur d'estimation d'une valeur d'étalonnage ifb - Google Patents

Procédé, dispositif et serveur d'estimation d'une valeur d'étalonnage ifb Download PDF

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Publication number
WO2018146876A1
WO2018146876A1 PCT/JP2017/040031 JP2017040031W WO2018146876A1 WO 2018146876 A1 WO2018146876 A1 WO 2018146876A1 JP 2017040031 W JP2017040031 W JP 2017040031W WO 2018146876 A1 WO2018146876 A1 WO 2018146876A1
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WO
WIPO (PCT)
Prior art keywords
reference station
ifb
correction value
positioning
processor
Prior art date
Application number
PCT/JP2017/040031
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English (en)
Japanese (ja)
Inventor
山崎　靖久
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to US16/481,675 priority Critical patent/US11294072B2/en
Priority to JP2018566755A priority patent/JP6920596B2/ja
Priority to CN201780084784.2A priority patent/CN110226107B/zh
Priority to EP17896280.9A priority patent/EP3581967A4/fr
Publication of WO2018146876A1 publication Critical patent/WO2018146876A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/073—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections involving a network of fixed stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/51—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Definitions

  • This disclosure relates to an IFB correction value estimation method, apparatus, and server when performing interference positioning using signals from positioning satellites (hereinafter, artificial satellites that can be used for positioning are collectively referred to as “satellite”).
  • satellites hereinafter, artificial satellites that can be used for positioning are collectively referred to as “satellite”.
  • Patent Document 1 discloses a positioning terminal that can shorten the time until the determination of integer ambiguity in interference positioning using a positioning signal from a satellite.
  • the reference station and the positioning terminal receive a positioning signal from a satellite (not shown) of GNSS (Global Navigation Satellite System) when performing interference positioning.
  • GNSS Global Navigation Satellite System
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • Beidu Beidu
  • GLONASS Global Navigation Satellite System
  • the FDMA GLONASS satellite system has a different transmission frequency for each satellite. Since the group delay characteristics are different for each positioning terminal, the time (delay amount) until the transmission wave reaches the receiving chip of the reference station and the receiving chip of the positioning terminal is different for each satellite. This time difference affects the accuracy of the RTK calculation to a degree that cannot be ignored.
  • IFB Inter Frequency Frequency Bias
  • the IFB correction value of the model of each reference station already installed is stored by the time of shipment.
  • the positioning terminal uses the stored IFB correction value when performing the RTK calculation.
  • 1 aspect of the present disclosure discloses an IFB correction value estimation method, apparatus, and server that improve the accuracy of interference positioning when a reference station is newly installed after the positioning terminal is shipped.
  • An IFB correction value estimation method is an IFB correction value estimation method for a reference station by an apparatus that determines coordinates of a moving body based on positioning signals transmitted from a plurality of satellites, the reference station Obtaining information identifying the reference station based on the reference station data received from the base station, determining whether the IFB correction value of the reference station corresponding to the information identifying the reference station is stored in a storage unit, When the IFB correction value is not stored in the storage unit, the IFB correction value of the reference station is estimated using information obtained by positioning calculation based on the positioning signal.
  • An apparatus includes a receiving unit that receives positioning signals transmitted from a plurality of satellites, and a processor that determines coordinates of a moving body based on the positioning signals, the processor comprising: Obtaining information identifying the reference station based on the reference station data received from the reference station, determining whether the IFB correction value of the reference station corresponding to the information identifying the reference station is stored in a storage unit; If the IFB correction value is not stored in the storage unit, the IFB correction value of the reference station is estimated using information obtained by positioning calculation based on the positioning signal.
  • a server includes a communication unit that communicates with each of a plurality of devices that determine coordinates of a moving body based on positioning signals transmitted from a plurality of satellites, and a processor, The processor, when the communication unit receives the information identifying the reference station and the IFB correction value of the reference station from the device that estimated the IFB correction value of the reference station, calculates an average value of the IFB correction value of the reference station, The communication unit is caused to transmit information specifying the reference station and an average value of IFB correction values of the reference station to another device.
  • the accuracy of interference positioning can be improved when a reference station is newly installed after the positioning terminal is shipped.
  • FIG. 1 is a diagram illustrating a configuration of a positioning system according to an embodiment.
  • FIG. 2 is a block diagram illustrating a configuration of a reference station according to an embodiment.
  • FIG. 3 is a block diagram illustrating a configuration of a positioning terminal according to an embodiment.
  • FIG. 4 is a block diagram illustrating a configuration of a server according to an embodiment.
  • FIG. 5 is a flowchart showing a positioning process according to an embodiment.
  • FIG. 6 is a flowchart showing an IFB correction value estimation process according to an embodiment.
  • the positioning system 1 includes a reference station 10, a positioning terminal 20, and a server 30.
  • the positioning system 1 measures the position of the positioning terminal 20 and obtains the coordinates of the positioning terminal 20 on the earth.
  • the coordinates are generally three-dimensional coordinates of latitude, longitude, and altitude, but may be two-dimensional coordinates such as latitude and longitude.
  • the reference station 10 is installed at a location where the coordinates on the earth are known by a local government such as a country.
  • the reference station 10 generates positioning data (hereinafter referred to as “reference station positioning data”) that is information indicating the phase of the carrier wave in the reference station 10 based on the positioning signal received from the satellite, and measures the reference station data including the reference station positioning data. It transmits to the terminal 20. Details of the positioning data will be described later.
  • the reference station data includes a unique model ID that is information for specifying the reference station 10, information indicating the coordinates of the installation location of the reference station 10, and the like.
  • the positioning terminal 20 is installed in a moving body (for example, a vehicle) that is a target for which coordinates are to be obtained.
  • the positioning terminal 20 includes a dedicated terminal for positioning, a personal computer having a positioning function, a smartphone, a tablet, and the like.
  • the positioning terminal 20 generates positioning data of the positioning terminal 20 (hereinafter referred to as “positioning terminal positioning data”), which is information indicating the phase of the carrier wave in the positioning terminal 20, based on the positioning signal received from the satellite.
  • positioning terminal positioning data is information indicating the phase of the carrier wave in the positioning terminal 20, based on the positioning signal received from the satellite.
  • the positioning terminal 20 stores the model ID of each reference station 10 already installed and its IFB correction value in association with each other. In addition, the positioning terminal 20 receives the model ID and IFB correction value of the newly installed reference station 10 from the server 30 and stores them.
  • the positioning terminal 20 performs RTK calculation (interference positioning processing by the RTK method) using the reference station positioning data, the positioning terminal positioning data, and the IFB correction value, and outputs the coordinates of the moving body.
  • the positioning terminal 20 does not store the IFB correction value corresponding to the model ID of the reference station 10 in the received reference station data, and if it cannot receive the IFB correction value corresponding to the model ID of the reference station 10 from the server 30, An IFB correction value estimation process is performed. Details of the IFB correction value estimation process will be described later.
  • the server 30 When the server 30 communicates with each of the plurality of positioning terminals and receives the model ID of the reference station 10 and the IFB correction value from any of the positioning terminals 20, the server 30 transmits the model ID of the reference station 10 to another positioning terminal 20. Transfer the IFB correction value.
  • the reference station 10 includes a processor 101, a storage unit 102, an input unit 103, an output unit 104, a communication unit 105, a reception unit 106, and a bus 110.
  • the processor 101 controls other elements of the reference station 10 via the bus 110.
  • a general-purpose CPU Central Processing Unit
  • the processor 101 generates reference station positioning data based on the positioning signal by executing a predetermined program.
  • the storage unit 102 acquires various information from other elements and stores the information temporarily or permanently.
  • the storage unit 102 is a general term for a so-called primary storage device and secondary storage device.
  • a plurality of storage units 102 may be physically arranged.
  • As the storage unit 102 for example, a DRAM (Direct Random Access Memory), an HDD (Hard Disk Drive), or an SSD (Solid State Drive) is used.
  • the input unit 103 receives information from the outside.
  • Information from the outside received by the input unit 103 includes information related to input from the operator of the reference station 10.
  • the input unit 103 can be configured by using an input interface such as a keyboard.
  • the output unit 104 presents information to the outside.
  • the information presented by the output unit 104 includes information related to positioning.
  • the output unit 104 can be configured by using an existing output interface such as a display.
  • the communication unit 105 communicates with an external device via a communication path.
  • the target device (communication target) with which the communication unit 105 communicates includes the positioning terminal 20.
  • the communication unit 105 can be configured by using a communication interface capable of communicating with an existing communication network such as a wireless LAN communication network or a 3G communication network.
  • the receiving unit 106 receives a positioning signal from the satellite and outputs the positioning signal to the processor 101 via the bus 110.
  • the configuration of the reference station 10 is an example. A part of each component of the reference station 10 may be integrated and configured. A part of each constituent element of the reference station 10 may be divided into a plurality of elements. Some of the constituent elements of the reference station 10 may be omitted. The reference station 10 may be configured by adding other elements.
  • the positioning terminal 20 includes a processor 201, a storage unit 202, an input unit 203, an output unit 204, a communication unit 205, a reception unit 206, and a bus 210.
  • the processor 201 controls other elements of the positioning terminal 20 via the bus 210.
  • the processor 201 for example, a general-purpose CPU is used.
  • the processor 201 generates positioning terminal positioning data based on the positioning signal by executing a predetermined program.
  • the processor 201 has a function of performing RTK calculation using reference station positioning data, positioning terminal positioning data, and IFB correction values, and outputting the coordinates of the moving object. Further, in the present embodiment, the processor 201 has a function of executing IFB correction value estimation processing using reference station positioning data, positioning terminal positioning data, and IFB correction candidates (including initial values). Note that the processor 201 does not store the IFB correction value corresponding to the model ID of the reference station 10 in the received reference station data and cannot receive the IFB correction value corresponding to the model ID of the reference station 10 from the server 30. Then, an IFB correction value estimation process is performed.
  • the storage unit 202 acquires various information from other elements and stores the information temporarily or permanently.
  • the storage unit 202 is a generic term for so-called primary storage devices and secondary storage devices.
  • a plurality of storage units 202 may be physically arranged.
  • the storage unit 202 for example, a DRAM, HDD, or SSD is used.
  • the storage unit 202 stores the model ID of the reference station 10 and the IFB correction value in association with each other.
  • the storage unit 202 stores an IFB correction initial value and a constant value.
  • the input unit 203 receives information from the outside.
  • the external information received by the input unit 203 includes information related to input from the operator of the positioning terminal 20.
  • the input unit 203 can be configured by using an input interface such as a keyboard.
  • the output unit 204 presents information to the outside.
  • the information presented by the output unit 204 includes information related to positioning.
  • the output unit 204 can be configured by using an existing output interface such as a display.
  • the communication unit 205 communicates with an external device via a communication path.
  • the target device (communication target) with which the communication unit 205 communicates includes the reference station 10 and the server 30.
  • the communication unit 205 can be configured by using a communication interface capable of communicating with an existing communication network such as a wireless LAN communication network or a 3G communication network.
  • the communication unit 205 transmits the IFB correction value of the reference station 10 estimated by the processor 201 to the server 30 together with the model ID of the reference station, and the model ID and IFB correction value of the reference station 10 from the server 30. Receive.
  • the receiving unit 206 receives the positioning signal from the satellite and outputs the positioning signal to the processor 201 via the bus 210.
  • the above-described configuration of the positioning terminal 20 is an example. A part of each component of the positioning terminal 20 may be integrated and configured. A part of each component of the positioning terminal 20 can be divided into a plurality of components. Some of the components of the positioning terminal 20 may be omitted. The positioning terminal 20 may be configured by adding other elements.
  • the server 30 includes a processor 301, a storage unit 302, an input unit 303, an output unit 304, a communication unit 305, and a bus 310.
  • the processor 301 controls other elements of the server 30 via the bus 310.
  • the processor 301 stores the model ID of the reference station 10 and the IFB correction value transmitted from one positioning terminal 20 in the storage unit 302, and calculates the average value of the IFB correction values.
  • the processor 301 sends, to the other positioning terminals 20 to the communication unit 305, the average value of the model ID and IFB correction value of the reference station 10 (if there is only one IFB correction value stored, the IFB correction value). To send.
  • the processor 301 sends the communication unit 305 to the other positioning terminal 20 and sends the reference station 10
  • the average value of the model ID and the IFB correction value may be transmitted.
  • the storage unit 302 acquires various information from other elements and stores the information temporarily or permanently.
  • the storage unit 302 is a general term for a so-called primary storage device and secondary storage device.
  • a plurality of storage units 302 may be physically arranged.
  • the storage unit 302 for example, a DRAM (Direct Random Access Memory), an HDD (Hard Disk Drive), or an SSD (Solid State Drive) is used.
  • the storage unit 302 stores the model ID of the reference station 10 transmitted from the positioning terminal 20 and the IFB correction value in association with each other.
  • the input unit 303 receives information from the outside.
  • the external information received by the input unit 303 includes information related to input from the operator of the server 30.
  • the input unit 303 can be configured by using an input interface such as a keyboard.
  • the output unit 304 presents information to the outside.
  • Information presented by the output unit 304 includes information related to positioning.
  • the output unit 304 can be configured by using an existing output interface such as a display.
  • the communication unit 305 communicates with an external device via a communication path.
  • the target device (communication target) with which the communication unit 305 communicates includes the positioning terminal 20.
  • the communication unit 305 can be configured by using a communication interface capable of communicating with an existing communication network such as a wireless LAN communication network or a 3G communication network.
  • the communication unit 305 transfers the model ID and IFB correction value of the reference station 10 transmitted from one positioning terminal 20 to another positioning terminal 20.
  • the configuration of the server 30 described above is an example. A part of each component of the server 30 may be integrated and configured. A part of each component of the server 30 may be divided into a plurality of elements. Some components of the server 30 may be omitted. The server 30 may be configured by adding other elements.
  • the server 30 of the present disclosure includes a reference station installed by a local government such as a country.
  • the positioning data includes pseudorange information, carrier phase information, and Doppler frequency information.
  • the pseudo-range information is information regarding the distance between the satellite and the own station (the reference station 10 or the positioning terminal 20).
  • the processor (the processor 101 or the processor 201) can calculate the distance between the satellite and its own station by analyzing the positioning signal. Specifically, the processor first (1) the phase difference between the code pattern carried by the positioning signal and the code pattern generated by the own station, and (2) the message (NAVDATA) included in the positioning signal. The arrival time of the positioning signal is obtained based on two pieces of information: the satellite signal generation time and the local station signal reception time. Then, the processor obtains the distance between the satellite and the local station by multiplying the arrival time by the speed of light. This distance includes an error caused by a difference between the clock of the satellite and the clock of the local station.
  • Carrier phase information is the phase of the positioning signal received by the local station.
  • the positioning signal is a predetermined sine wave.
  • the processor can calculate the phase of the positioning signal by analyzing the received positioning signal.
  • Doppler frequency information is information regarding the relative speed between the satellite and the local station.
  • the processor can generate Doppler frequency information by analyzing the positioning signal.
  • the positioning data is generated by the processor 101 of the reference station 10 and the processor 201 of the positioning terminal 20, respectively.
  • the RTK calculation is an operation for executing the RTK method which is one of interference positioning.
  • the RTK method is to perform positioning at a predetermined point using the carrier phase integrated value of the positioning signal transmitted by the satellite.
  • the carrier wave phase integrated value is the sum of (1) the number of positioning signal waves from the satellite to a predetermined point and (2) the phase. If the carrier phase integrated value is obtained, since the frequency (and wavelength) of the positioning signal is known, the distance from the satellite to a predetermined point can be obtained. Since the number of waves of the positioning signal is unknown, it is called an integer bias.
  • the double difference is a value obtained by calculating the difference (single difference) between the carrier phase integrated values of one receiver for two satellites between the two receivers (the reference station 10 and the positioning terminal 20 in this embodiment). Is the difference.
  • the double difference is calculated by the number of combinations of four or more satellites. In this calculation, reference station positioning data and positioning terminal positioning data are used.
  • the integer value bias can be estimated by various methods.
  • the integer bias can be estimated by executing procedures of (1) estimation of the float solution by the least square method and (2) verification of the fixed solution based on the float solution.
  • the estimation of the float solution by the least square method is executed by creating a simultaneous equation using a combination of double differences generated for each time unit and solving the created simultaneous equation by the least square method. Simultaneous equations are generated for each unit of time called an epoch. In this calculation, reference station positioning data, positioning terminal positioning data, and known coordinates of the reference station 10 are used. The estimated value of the integer bias obtained in this way is called a float solution (estimated solution).
  • the true value of the integer bias is an integer. Therefore, it is necessary to make an integer value by rounding the float solution. However, there are several possible combinations for rounding the float solution. Therefore, it is necessary to test a correct integer value among candidates.
  • a solution that is considered to be certain to some extent as an integer bias by the test is called a fixed solution (precision positioning solution).
  • a quality check is performed using an AR (Ambiguity Ratio) value obtained by RTK calculation, and a correct integer value is tested based on the result of the quality check. Note that the reference station positioning data is used in order to efficiently narrow down the integer value candidates.
  • the positioning terminal 20 performs a positioning process.
  • the positioning process of the present disclosure is not limited to that performed by the positioning terminal 20, and may be executed by a general-purpose computer added to the positioning system 1, for example.
  • the timing which starts a positioning process may be started when the power of the positioning terminal 20 is turned on. Further, the positioning process may be started when a command for starting the positioning process is input by the input unit 203 of the positioning terminal 20.
  • receiving section 206 receives a positioning signal from each of all receivable satellites.
  • communication section 205 receives reference station data from reference station 10.
  • the processor 201 acquires the model ID of the reference station 10 described in the reference station data received by the receiving unit 206.
  • the processor 201 confirms whether or not the IFB correction value corresponding to the model ID of the reference station 10 is stored in the storage unit 202.
  • the processor 201 uses the reference station positioning data, the positioning terminal positioning data, and the IFB correction value to perform RTK. Execute the calculation and calculate the positioning solution (fixed solution or float solution). Note that the processor 201 checks whether or not the AR value obtained by the RTK calculation is greater than or equal to a threshold value (for example, 3.0). If the AR value is greater than or equal to the threshold value, the positioning solution of the RTK calculation is fixed (precision If the AR value is less than the threshold value, the positioning solution of the RTK calculation is the float solution (guessed solution).
  • a threshold value for example, 3.0
  • the processor 201 performs RTK calculation using the reference station positioning data and the positioning terminal positioning data. Execute and calculate the positioning solution.
  • the processor 201 stores the reference station positioning data and the positioning terminal positioning data in the storage unit 202.
  • the output unit 204 outputs the positioning solution calculated by the processor 201.
  • This positioning solution represents the current coordinates of the moving body in which the positioning terminal 20 is installed.
  • IFB correction value estimation processing flow the flow of IFB correction value estimation processing according to the present embodiment will be described with reference to FIG.
  • the IFB correction value estimation process of the present disclosure is not limited to that performed by the positioning terminal 20, and may be executed by, for example, a general-purpose computer added to the server 30 or the positioning system 1.
  • the processor 201 performs the following IFB correction value estimation process after the positioning process is completed. Execute.
  • the processor 201 acquires an IFB correction initial value CA def from the storage unit 202 and sets it as a provisional IFB correction value CA pro .
  • the processor 201 executes RTK calculation using the reference station positioning data, the positioning terminal positioning data, and the provisional IFB correction value CA pro , and the provisional fix rate FR that is the ratio of the positioning solutions whose AR value is equal to or greater than the threshold value. Calculate pro .
  • the processor 201 calculates a candidate IFB correction value CA i.
  • processor 201 performs RTK calculation using reference station positioning data, positioning terminal positioning data, and candidate IFB correction value CA i to calculate candidate fix rate FR i .
  • the processor 201 compares the provisional fix rate FR pro with the candidate fix rate FR i .
  • the processor 201 stores the candidate IFB correction value CA i in the storage unit 202 as the provisional IFB correction value CA pro and the candidate fix rate FR i as the provisional fix rate FR pro .
  • the processor 201 increments the step number i.
  • the processor 201 calculates the candidate IFB correction value CA i by subtracting the value obtained by multiplying the number of steps i to a constant value FV from IFB correction initial value CA def.
  • the processor 201 calculates a candidate fix rate FR i.
  • the processor 201 compares the provisional fix rate FR pro with the candidate fix rate FR i .
  • the processor 201 stores the candidate IFB correction value CA i in the storage unit 202 as the provisional IFB correction value CA pro and the candidate fix rate FR i as the provisional fix rate FR pro .
  • the processor 201 increments the step number i.
  • the processor 201 determines the provisional IFB correction value CA pro as a formal IFB correction value and stores it in the storage unit 202 in association with the model ID of the reference station 10.
  • step S616 the communication unit 205 transmits information including the IFB correction value estimated by the processor 201 and the model ID of the reference station 10 corresponding to the IFB correction value to the server 30.
  • the IFB correction value is determined using information indicating the probability of the positioning solution other than the fix rate.
  • the estimation process may be performed.
  • IFB correction value estimation processing may be performed using information indicating performance other than the accuracy of the positioning solution, such as convergence time.
  • model ID is used as an example of information specifying the reference station.
  • information other than the model ID may be used.
  • the positioning terminal 20 estimates the IFB correction value of the reference station using information obtained by the positioning calculation based on the positioning signal when the IFB correction value of the reference station 10 is not stored. To do. Specifically, the positioning terminal 20 calculates a positioning solution indicating the coordinates of the moving body using the reference station positioning data, the positioning terminal positioning data, and the IFB correction value candidate, and confirms the positioning solution in each IFB correction value candidate. Based on the likelihood, the IFB correction value of the reference station 10 is estimated. In addition, the fix rate can be used as the accuracy of the positioning solution.
  • interference positioning can be performed using the estimated IFB correction value of the reference station, so that the accuracy of interference positioning can be improved.
  • the positioning terminal 20 transmits information specifying the reference station 10 and the estimated IFB correction value of the reference station 10 to the server 30.
  • the server 30 calculates the average value of the IFB correction values of the received reference station 10 and transmits information for specifying the reference station 10 and the average value of the IFB correction values of the reference station 10 to other positioning terminals 20.
  • the IFB correction value of the reference station estimated by one positioning terminal can be shared by other positioning terminals.
  • the server 30 when the number of IFB correction values for each reference station 10 is equal to or greater than a predetermined value, the server 30 causes the positioning terminal 20 to store information specifying the reference station 10 and the IFB correction value. The average value may be transmitted. In this case, the positioning terminal 20 determines whether or not the IFB correction value corresponding to the information for specifying the reference station 10 can be acquired from the server 30, and estimates the IFB correction value when it cannot be acquired from the server 30.
  • the present disclosure is not limited thereto, and a positioning calculation other than the RTK calculation may be performed.
  • the present disclosure is suitable for use when performing interference positioning using a signal from a positioning satellite.
  • positioning system 10 reference station 20 positioning terminal 30 server 101, 201, 301 processor 102, 202, 302 storage unit 103, 203, 303 input unit 104, 204, 304 output unit 105, 205, 305 communication unit 106, 206 receiving unit 110 , 210, 310 Bus

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Selon la présente invention, lorsqu'une valeur d'étalonnage IFB, qui correspond à un ID de type de machine d'une station de référence, n'est pas mémorisée dans une unité de mémoire (202), un processeur (201) exécute un calcul RTK à l'aide de données de positionnement de station de référence et de données de positionnement de terminal de positionnement, et calcule une solution de positionnement et mémorise les données de positionnement de station de référence et les données de positionnement de terminal de positionnement dans l'unité de mémoire (202). Le processeur (201) exécute, après l'achèvement d'un processus de positionnement, un processus d'estimation de la valeur d'étalonnage IFB à l'aide des données de positionnement de station de référence et des données de positionnement de terminal de positionnement mémorisées dans l'unité de mémoire (202).
PCT/JP2017/040031 2017-02-10 2017-11-07 Procédé, dispositif et serveur d'estimation d'une valeur d'étalonnage ifb WO2018146876A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US16/481,675 US11294072B2 (en) 2017-02-10 2017-11-07 Method, device and server for estimation of IFB calibration value
JP2018566755A JP6920596B2 (ja) 2017-02-10 2017-11-07 Ｉｆｂ補正値の推定方法、装置およびサーバ
CN201780084784.2A CN110226107B (zh) 2017-02-10 2017-11-07 Ifb校正值的估计方法、装置以及服务器
EP17896280.9A EP3581967A4 (fr) 2017-02-10 2017-11-07 Procédé, dispositif et serveur d'estimation d'une valeur d'étalonnage ifb

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JP2017-023287 2017-02-10
JP2017023287 2017-02-10

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CN112788525A (zh) * 2020-12-31 2021-05-11 广州极飞科技股份有限公司 基站位置批量校准方法、装置、电子设备及存储介质
CN115343740B (zh) * 2021-05-13 2025-06-06 千寻位置网络（浙江）有限公司 目标频间相位偏差确定方法、装置、电子设备和存储介质

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US20200003905A1 (en) 2020-01-02
CN110226107A (zh) 2019-09-10
EP3581967A4 (fr) 2020-03-04
EP3581967A1 (fr) 2019-12-18
US11294072B2 (en) 2022-04-05
JPWO2018146876A1 (ja) 2019-11-21
CN110226107B (zh) 2023-04-28
JP6920596B2 (ja) 2021-08-18

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